From 81a3ce5b92a0b1f22dbc200c16ee4cadf8eba92b Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Fri, 24 Sep 2021 02:53:50 +0900
Subject: [PATCH 1/5] Fix installation of test msgs

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 rosbridge_library/CMakeLists.txt | 1 -
 rosbridge_library/package.xml    | 4 +++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/rosbridge_library/CMakeLists.txt b/rosbridge_library/CMakeLists.txt
index 3983250fc..d51e94b1f 100644
--- a/rosbridge_library/CMakeLists.txt
+++ b/rosbridge_library/CMakeLists.txt
@@ -32,7 +32,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   srv/TestRequestOnly.srv
   srv/TestResponseOnly.srv
   DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
-  SKIP_INSTALL
 )
 
 ament_export_dependencies(rosidl_default_runtime)
diff --git a/rosbridge_library/package.xml b/rosbridge_library/package.xml
index ec9b576bf..143c6bcba 100644
--- a/rosbridge_library/package.xml
+++ b/rosbridge_library/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>rosbridge_library</name>
   <version>1.0.8</version>
   <description>
@@ -35,6 +35,8 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>python3-bson</exec_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

From d272dcdeb0ad6c739ae68142dc27efbc6030c918 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Fri, 24 Sep 2021 02:34:03 +0900
Subject: [PATCH 2/5] Add ament_cmake_pytest

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 rosbridge_library/CMakeLists.txt                    |  9 +++++----
 rosbridge_library/package.xml                       |  2 ++
 .../test/capabilities/test_capabilities.test        |  7 -------
 rosbridge_library/test/internal/test_internal.test  | 13 -------------
 4 files changed, 7 insertions(+), 24 deletions(-)
 delete mode 100644 rosbridge_library/test/capabilities/test_capabilities.test
 delete mode 100644 rosbridge_library/test/internal/test_internal.test

diff --git a/rosbridge_library/CMakeLists.txt b/rosbridge_library/CMakeLists.txt
index d51e94b1f..447120615 100644
--- a/rosbridge_library/CMakeLists.txt
+++ b/rosbridge_library/CMakeLists.txt
@@ -39,8 +39,9 @@ ament_export_dependencies(rosidl_default_runtime)
 ament_package()
 
 if (BUILD_TESTING)
-  # TODO re-enable rostests
-  # find_package(rostest REQUIRED)
-  # add_rostest(test/capabilities/test_capabilities.test)
-  # add_rostest(test/internal/test_internal.test)
+  find_package(ament_cmake_pytest REQUIRED)
+
+  # TODO: Enable tests
+  # ament_add_pytest_test(test_capabilities "test/capabilities")
+  # ament_add_pytest_test(test_internal "test/internal")
 endif()
diff --git a/rosbridge_library/package.xml b/rosbridge_library/package.xml
index 143c6bcba..1b86cd8d6 100644
--- a/rosbridge_library/package.xml
+++ b/rosbridge_library/package.xml
@@ -35,6 +35,8 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>python3-bson</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
+
   <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
diff --git a/rosbridge_library/test/capabilities/test_capabilities.test b/rosbridge_library/test/capabilities/test_capabilities.test
deleted file mode 100644
index e0ea65487..000000000
--- a/rosbridge_library/test/capabilities/test_capabilities.test
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-  <test test-name="test_advertise" pkg="rosbridge_library" type="test_advertise.py" />
-  <test test-name="test_publish" pkg="rosbridge_library" type="test_publish.py" />
-  <test test-name="test_subscribe" pkg="rosbridge_library" type="test_subscribe.py" />
-  <test test-name="test_call_service" pkg="rosbridge_library" type="test_call_service.py" />
-  <test test-name="test_service_capabilities" pkg="rosbridge_library" type="test_service_capabilities.py" />
-</launch>
diff --git a/rosbridge_library/test/internal/test_internal.test b/rosbridge_library/test/internal/test_internal.test
deleted file mode 100644
index 42fe92b33..000000000
--- a/rosbridge_library/test/internal/test_internal.test
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-  <test test-name="test_ros_loader" pkg="rosbridge_library" type="test_ros_loader.py" />
-  <test test-name="test_message_conversion" pkg="rosbridge_library" type="test_message_conversion.py" />
-  <test test-name="test_services" pkg="rosbridge_library" type="test_services.py" />
-  <test test-name="test_multi_publisher" pkg="rosbridge_library" type="test_multi_publisher.py" />
-  <test test-name="test_publisher_manager" pkg="rosbridge_library" type="test_publisher_manager.py" />
-  <test test-name="test_multi_unregistering" pkg="rosbridge_library" type="test_multi_unregistering.py" />
-  <test test-name="test_multi_subscriber" pkg="rosbridge_library" type="test_multi_subscriber.py" />
-  <test test-name="test_subscriber_manager" pkg="rosbridge_library" type="test_subscriber_manager.py" />
-  <test test-name="test_subscription_modifiers" pkg="rosbridge_library" type="test_subscription_modifiers.py" />
-  <test test-name="test_cbor_conversion" pkg="rosbridge_library" type="test_cbor_conversion.py" />
-  <test test-name="test_outgoing_message" pkg="rosbridge_library" type="test_outgoing_message.py" />
-</launch>

From b3001f61ebf7578d902fbce6833fad04e5f84bdf Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Tue, 28 Sep 2021 19:28:20 +0900
Subject: [PATCH 3/5] Add test dependencies

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 rosbridge_library/package.xml | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/rosbridge_library/package.xml b/rosbridge_library/package.xml
index 1b86cd8d6..aec595578 100644
--- a/rosbridge_library/package.xml
+++ b/rosbridge_library/package.xml
@@ -35,7 +35,18 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>python3-bson</exec_depend>
 
+  <test_depend>actionlib_msgs</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>builtin_interfaces</test_depend>
+  <test_depend>diagnostic_msgs</test_depend>
+  <test_depend>geometry_msgs</test_depend>
+  <test_depend>nav_msgs</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>std_msgs</test_depend>
+  <test_depend>stereo_msgs</test_depend>
+  <test_depend>tf2_msgs</test_depend>
+  <test_depend>trajectory_msgs</test_depend>
+  <test_depend>visualization_msgs</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 

From 136298f49df65e0a149e52dd168aec760f1b668d Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Tue, 28 Sep 2021 20:02:02 +0900
Subject: [PATCH 4/5] Add test dependencies

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 rosbridge_library/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rosbridge_library/package.xml b/rosbridge_library/package.xml
index aec595578..a6b951447 100644
--- a/rosbridge_library/package.xml
+++ b/rosbridge_library/package.xml
@@ -43,6 +43,7 @@
   <test_depend>nav_msgs</test_depend>
   <test_depend>sensor_msgs</test_depend>
   <test_depend>std_msgs</test_depend>
+  <test_depend>std_srvs</test_depend>
   <test_depend>stereo_msgs</test_depend>
   <test_depend>tf2_msgs</test_depend>
   <test_depend>trajectory_msgs</test_depend>

From 1d09afd235c0b48e54fc7d3512aaf1905d749729 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Tue, 28 Sep 2021 20:09:20 +0900
Subject: [PATCH 5/5] Add test dependencies

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 rosbridge_library/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rosbridge_library/package.xml b/rosbridge_library/package.xml
index a6b951447..0fbd0b99b 100644
--- a/rosbridge_library/package.xml
+++ b/rosbridge_library/package.xml
@@ -39,6 +39,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>builtin_interfaces</test_depend>
   <test_depend>diagnostic_msgs</test_depend>
+  <test_depend>example_interfaces</test_depend>
   <test_depend>geometry_msgs</test_depend>
   <test_depend>nav_msgs</test_depend>
   <test_depend>sensor_msgs</test_depend>